Devices configured to cooperatively measure properties of a power transmission system

ABSTRACT

Described embodiments include a system and an apparatus. A described system includes a stationary device configured to be electrically coupled to a transmission line of a power transmission system and remain at a fixed location during a test measurement of the power transmission system. The system includes a mobile device configured to travel on the transmission line. The stationary device and the mobile device are further configured to cooperatively measure properties of the power transmission system.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is related to and claims the benefit of theearliest available effective filing date(s) from the following listedapplication(s) (the “Related Applications”) (e.g., claims earliestavailable priority dates for other than provisional patent applicationsor claims benefits under 35 USC §119(e) for provisional patentapplications, for any and all parent, grandparent, great-grandparent,etc. applications of the Related Application(s)).

Related Applications

For purposes of the USPTO extra-statutory requirements, the presentapplication constitutes a continuation-in-part of U.S. patentapplication Ser. No. ______, entitled APPARATUS AND SYSTEM FORSCHEDULING MOBILE DEVICE OPERATIONS ON A POWER TRANSMISSION SYSTEM,naming Roderick A. Hyde, and Lowell L. Wood, Jr., as inventors, filedMar. 30, 2012, which is currently co-pending, or is an application ofwhich a currently co-pending application is entitled to the benefit ofthe filing date.

For purposes of the USPTO extra-statutory requirements, the presentapplication constitutes a continuation-in-part of U.S. patentapplication Ser. No. ______, entitled MOBILE DEVICE CONFIGURED TOPERFORM TASKS RELATED TO A POWER TRANSMISSION SYSTEM, naming Roderick A.Hyde, and Lowell L. Wood, Jr., as inventors, filed Mar. 30, 2012, whichis currently co-pending, or is an application of which a currentlyco-pending application is entitled to the benefit of the filing date.

For purposes of the USPTO extra-statutory requirements, the presentapplication constitutes a continuation-in-part of U.S. patentapplication Ser. No. ______, entitled MOBILE DEVICE CONFIGURED TO TRAVELON A TRANSMISSION LINE AND PROVIDE ASSISTANCE, naming Roderick A. Hyde,and Lowell L. Wood, Jr., as inventors, filed Mar. 30, 2012, which iscurrently co-pending, or is an application of which a currentlyco-pending application is entitled to the benefit of the filing date.

The United States Patent Office (USPTO) has published a notice to theeffect that the USPTO's computer programs require that patent applicantsreference both a serial number and indicate whether an application is acontinuation or continuation-in-part. Stephen G. Kunin, Benefit ofPrior-Filed Application, USPTO Official Gazette Mar. 18, 2003. Thepresent Applicant Entity (hereinafter “Applicant”) has provided above aspecific reference to the application(s) from which priority is beingclaimed as recited by statute. Applicant understands that the statute isunambiguous in its specific reference language and does not requireeither a serial number or any characterization, such as “continuation”or “continuation-in-part,” for claiming priority to U.S. patentapplications. Notwithstanding the foregoing, Applicant understands thatthe USPTO's computer programs have certain data entry requirements, andhence Applicant is designating the present application as acontinuation-in-part of its parent applications as set forth above, butexpressly points out that such designations are not to be construed inany way as any type of commentary or admission as to whether or not thepresent application contains any new matter in addition to the matter ofits parent application(s).

All subject matter of the Related Applications and of any and allparent, grandparent, great-grandparent, etc. applications of the RelatedApplications is incorporated herein by reference to the extent suchsubject matter is not inconsistent herewith.

SUMMARY

For example, and without limitation, an embodiment of the subject matterdescribed herein includes a system. In this embodiment, the systemincludes a stationary device configured to be electrically coupled to atransmission line of a power transmission system and remain at a fixedlocation during a test measurement of the power transmission system. Thesystem includes a mobile device configured to travel on the transmissionline. The stationary device and the mobile device are further configuredto cooperatively measure properties of the power transmission system.

For example, and without limitation, an embodiment of the subject matterdescribed herein includes a system. In this embodiment, the systemincludes at least two mobile devices configured to (i) travel on oralong a transmission line of the power transmission system, and the atleast two mobile devices are further configured to (ii) cooperativelymeasure properties of the transmission line and/or other structuresassociated with the power transmission system.

For example, and without limitation, an embodiment of the subject matterdescribed herein includes a system. In this embodiment, the systemincludes at least two mobile devices configured to (i) travel on oralong a transmission line of the power transmission system, and the atleast two mobile devices are further configured to (ii) cooperativelymeasure properties of the transmission line and/or other structuresassociated with the power transmission system. The system includes amobile device management tool configured to control the traverse of thetransmission line of the power transmission system by the at least twomobile devices.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example embodiment of a thin computing device inwhich embodiments may be implemented;

FIG. 2 illustrates an example embodiment of a general-purpose computingsystem in which embodiments may be implemented;

FIG. 3 illustrates an example environment in which embodiments may beimplemented;

FIG. 3 illustrates an example environment 200 in which embodiments maybe implemented;

FIG. 4 illustrates an example environment 300 in which embodiments maybe implemented;

FIG. 5 illustrates an example environment 400 in which embodiments maybe implemented;

FIG. 6 illustrates an example operational flow 500 in which embodimentsmay be implemented;

FIG. 7 illustrates an alternative embodiment of the reception operation510 of FIG. 6;

FIG. 8 illustrates alternative embodiments of the operational flow 500of FIG. 6;

FIG. 9 illustrates a computer program product 600 in which embodimentsmay be implemented;

FIG. 10 illustrates an example environment 700 in which embodiments maybe implemented;

FIG. 11 illustrates an example environment 800 in which embodiments maybe implemented;

FIG. 12 illustrates an example environment 900 in which embodiments maybe implemented;

FIG. 13 illustrates an environment 1000 in which embodiments may beimplemented;

FIG. 14 illustrates an example embodiment of the mobile device 1005 ofFIG. 13;

FIG. 15 illustrates an example environment 1200 in which embodiments maybe implemented;

FIG. 16 illustrates an example environment 1300 in which embodiments maybe implemented; and;

FIG. 17 illustrates an example environment 1400 in which embodiments maybe implemented;

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrated embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Those having skill in the art will recognize that the state of the arthas progressed to the point where there is little distinction leftbetween hardware, software, and/or firmware implementations of aspectsof systems; the use of hardware, software, and/or firmware is generally(but not always, in that in certain contexts the choice between hardwareand software can become significant) a design choice representing costvs. efficiency tradeoffs. Those having skill in the art will appreciatethat there are various vehicles by which processes and/or systems and/orother technologies described herein can be effected (e.g., hardware,software, and/or firmware), and that the preferred vehicle will varywith the context in which the processes and/or systems and/or othertechnologies are deployed. For example, if an implementer determinesthat speed and accuracy are paramount, the implementer may opt for amainly hardware and/or firmware vehicle; alternatively, if flexibilityis paramount, the implementer may opt for a mainly softwareimplementation; or, yet again alternatively, the implementer may opt forsome combination of hardware, software, and/or firmware. Hence, thereare several possible vehicles by which the processes and/or devicesand/or other technologies described herein may be effected, none ofwhich is inherently superior to the other in that any vehicle to beutilized is a choice dependent upon the context in which the vehiclewill be deployed and the specific concerns (e.g., speed, flexibility, orpredictability) of the implementer, any of which may vary. Those skilledin the art will recognize that optical aspects of implementations willtypically employ optically-oriented hardware, software, and or firmware.

In some implementations described herein, logic and similarimplementations may include software or other control structuressuitable to implement an operation. Electronic circuitry, for example,may manifest one or more paths of electrical current constructed andarranged to implement various logic functions as described herein. Insome implementations, one or more media are configured to bear adevice-detectable implementation if such media hold or transmit aspecial-purpose device instruction set operable to perform as describedherein. In some variants, for example, this may manifest as an update orother modification of existing software or firmware, or of gate arraysor other programmable hardware, such as by performing a reception of ora transmission of one or more instructions in relation to one or moreoperations described herein. Alternatively or additionally, in somevariants, an implementation may include special-purpose hardware,software, firmware components, and/or general-purpose componentsexecuting or otherwise invoking special-purpose components.Specifications or other implementations may be transmitted by one ormore instances of tangible transmission media as described herein,optionally by packet transmission or otherwise by passing throughdistributed media at various times.

Alternatively or additionally, implementations may include executing aspecial-purpose instruction sequence or otherwise invoking circuitry forenabling, triggering, coordinating, requesting, or otherwise causing oneor more occurrences of any functional operations described below. Insome variants, operational or other logical descriptions herein may beexpressed directly as source code and compiled or otherwise invoked asan executable instruction sequence. In some contexts, for example, C++or other code sequences can be compiled directly or otherwiseimplemented in high-level descriptor languages (e.g., alogic-synthesizable language, a hardware description language, ahardware design simulation, and/or other such similar mode(s) ofexpression). Alternatively or additionally, some or all of the logicalexpression may be manifested as a Verilog-type hardware description orother circuitry model before physical implementation in hardware,especially for basic operations or timing-critical applications. Thoseskilled in the art will recognize how to obtain, configure, and optimizesuitable transmission or computational elements, material supplies,actuators, or other common structures in light of these teachings.

In a general sense, those skilled in the art will recognize that thevarious embodiments described herein can be implemented, individuallyand/or collectively, by various types of electro-mechanical systemshaving a wide range of electrical components such as hardware, software,firmware, and/or virtually any combination thereof and a wide range ofcomponents that may impart mechanical force or motion such as rigidbodies, spring or torsional bodies, hydraulics, electro-magneticallyactuated devices, and/or virtually any combination thereof.Consequently, as used herein “electro-mechanical system” includes, butis not limited to, electrical circuitry operably coupled with atransducer (e.g., an actuator, a motor, a piezoelectric crystal, a MicroElectro Mechanical System (MEMS), etc.), electrical circuitry having atleast one discrete electrical circuit, electrical circuitry having atleast one integrated circuit, electrical circuitry having at least oneapplication specific integrated circuit, electrical circuitry forming ageneral purpose computing device configured by a computer program (e.g.,a general purpose computer configured by a computer program which atleast partially carries out processes and/or devices described herein,or a microprocessor configured by a computer program which at leastpartially carries out processes and/or devices described herein),electrical circuitry forming a memory device (e.g., forms of memory(e.g., random access, flash, read only, etc.)), electrical circuitryforming a communications device (e.g., a modem, module, communicationsswitch, optical-electrical equipment, etc.), and/or any non-electricalanalog thereto, such as optical or other analogs. Those skilled in theart will also appreciate that examples of electro-mechanical systemsinclude but are not limited to a variety of consumer electronicssystems, medical devices, as well as other systems such as motorizedtransport systems, factory automation systems, security systems, and/orcommunication/computing systems. Those skilled in the art will recognizethat electro-mechanical as used herein is not necessarily limited to asystem that has both electrical and mechanical actuation except ascontext may dictate otherwise.

In a general sense, those skilled in the art will also recognize thatthe various aspects described herein which can be implemented,individually and/or collectively, by a wide range of hardware, software,firmware, and/or any combination thereof can be viewed as being composedof various types of “electrical circuitry.” Consequently, as used herein“electrical circuitry” includes, but is not limited to, electricalcircuitry having at least one discrete electrical circuit, electricalcircuitry having at least one integrated circuit, electrical circuitryhaving at least one application specific integrated circuit, electricalcircuitry forming a general purpose computing device configured by acomputer program (e.g., a general purpose computer configured by acomputer program which at least partially carries out processes and/ordevices described herein, or a microprocessor configured by a computerprogram which at least partially carries out processes and/or devicesdescribed herein), electrical circuitry forming a memory device (e.g.,forms of memory (e.g., random access, flash, read only, etc.)), and/orelectrical circuitry forming a communications device (e.g., a modem,communications switch, optical-electrical equipment, etc.). Those havingskill in the art will recognize that the subject matter described hereinmay be implemented in an analog or digital fashion or some combinationthereof.

Those skilled in the art will further recognize that at least a portionof the devices and/or processes described herein can be integrated intoan image processing system. A typical image processing system maygenerally include one or more of a system unit housing, a video displaydevice, memory such as volatile or non-volatile memory, processors suchas microprocessors or digital signal processors, computational entitiessuch as operating systems, drivers, applications programs, one or moreinteraction devices (e.g., a touch pad, a touch screen, an antenna,etc.), control systems including feedback loops and control motors(e.g., feedback for sensing lens position and/or velocity; controlmotors for moving/distorting lenses to give desired focuses). An imageprocessing system may be implemented utilizing suitable commerciallyavailable components, such as those typically found in digital stillsystems and/or digital motion systems.

Those skilled in the art will likewise recognize that at least some ofthe devices and/or processes described herein can be integrated into adata processing system. Those having skill in the art will recognizethat a data processing system generally includes one or more of a systemunit housing, a video display device, memory such as volatile ornon-volatile memory, processors such as microprocessors or digitalsignal processors, computational entities such as operating systems,drivers, graphical user interfaces, and applications programs, one ormore interaction devices (e.g., a touch pad, a touch screen, an antenna,etc.), and/or control systems including feedback loops and controlmotors (e.g., feedback for sensing position and/or velocity; controlmotors for moving and/or adjusting components and/or quantities). A dataprocessing system may be implemented utilizing suitable commerciallyavailable components, such as those typically found in datacomputing/communication and/or network computing/communication systems.

FIGS. 1 and 2 provide respective general descriptions of severalenvironments in which implementations may be implemented. FIG. 1 isgenerally directed toward a thin computing environment 19 having a thincomputing device 20, and FIG. 2 is generally directed toward a generalpurpose computing environment 100 having general purpose computingdevice 110. However, as prices of computer components drop and ascapacity and speeds increase, there is not always a bright line betweena thin computing device and a general purpose computing device. Further,there is a continuous stream of new ideas and applications forenvironments benefited by use of computing power. As a result, nothingshould be construed to limit disclosed subject matter herein to aspecific computing environment unless limited by express language.

FIG. 1 and the following discussion are intended to provide a brief,general description of a thin computing environment 19 in whichembodiments may be implemented. FIG. 1 illustrates an example systemthat includes a thin computing device 20, which may be included orembedded in an electronic device that also includes a device functionalelement 50. For example, the electronic device may include any itemhaving electrical or electronic components playing a role in afunctionality of the item, such as for example, a refrigerator, a car, adigital image acquisition device, a camera, a cable modem, a printer anultrasound device, an x-ray machine, a non-invasive imaging device, oran airplane. For example, the electronic device may include any itemthat interfaces with or controls a functional element of the item. Inanother example, the thin computing device may be included in animplantable medical apparatus or device. In a further example, the thincomputing device may be operable to communicate with an implantable orimplanted medical apparatus. For example, a thin computing device mayinclude a computing device having limited resources or limitedprocessing capability, such as a limited resource computing device, awireless communication device, a mobile wireless communication device, asmart phone, an electronic pen, a handheld electronic writing device, ascanner, a cell phone, a smart phone (such as an Android® or iPhone®based device), a tablet device (such as an iPad®) or a Blackberry®device. For example, a thin computing device may include a thin clientdevice or a mobile thin client device, such as a smart phone, tablet,notebook, or desktop hardware configured to function in a virtualizedenvironment.

The thin computing device 20 includes a processing unit 21, a systemmemory 22, and a system bus 23 that couples various system componentsincluding the system memory 22 to the processing unit 21. The system bus23 may be any of several types of bus structures including a memory busor memory controller, a peripheral bus, and a local bus using any of avariety of bus architectures. The system memory includes read-onlymemory (ROM) 24 and random access memory (RAM) 25. A basic input/outputsystem (BIOS) 26, containing the basic routines that help to transferinformation between sub-components within the thin computing device 20,such as during start-up, is stored in the ROM 24. A number of programmodules may be stored in the ROM 24 or RAM 25, including an operatingsystem 28, one or more application programs 29, other program modules 30and program data 31.

A user may enter commands and information into the computing device 20through one or more input interfaces. An input interface may include atouch-sensitive display, or one or more switches or buttons withsuitable input detection circuitry. A touch-sensitive display isillustrated as a display 32 and screen input detector 33. One or moreswitches or buttons are illustrated as hardware buttons 44 connected tothe system via a hardware button interface 45. The output circuitry ofthe touch-sensitive display 32 is connected to the system bus 23 via avideo driver 37. Other input devices may include a microphone 34connected through a suitable audio interface 35, or a physical hardwarekeyboard (not shown). Output devices may include the display 32, or aprojector display 36.

In addition to the display 32, the computing device 20 may include otherperipheral output devices, such as at least one speaker 38. Otherexternal input or output devices 39, such as a joystick, game pad,satellite dish, scanner or the like may be connected to the processingunit 21 through a USB port 40 and USB port interface 41, to the systembus 23. Alternatively, the other external input and output devices 39may be connected by other interfaces, such as a parallel port, game portor other port. The computing device 20 may further include or be capableof connecting to a flash card memory (not shown) through an appropriateconnection port (not shown). The computing device 20 may further includeor be capable of connecting with a network through a network port 42 andnetwork interface 43, and through wireless port 46 and correspondingwireless interface 47 may be provided to facilitate communication withother peripheral devices, including other computers, printers, and so on(not shown). It will be appreciated that the various components andconnections shown are examples and other components and means ofestablishing communication links may be used.

The computing device 20 may be primarily designed to include a userinterface. The user interface may include a character, a key-based, oranother user data input via the touch sensitive display 32. The userinterface may include using a stylus (not shown). Moreover, the userinterface is not limited to an actual touch-sensitive panel arranged fordirectly receiving input, but may alternatively or in addition respondto another input device such as the microphone 34. For example, spokenwords may be received at the microphone 34 and recognized.Alternatively, the computing device 20 may be designed to include a userinterface having a physical keyboard (not shown).

The device functional elements 50 are typically application specific andrelated to a function of the electronic device, and are coupled with thesystem bus 23 through an interface (not shown). The functional elementsmay typically perform a single well-defined task with little or no userconfiguration or setup, such as a refrigerator keeping food cold, a cellphone connecting with an appropriate tower and transceiving voice ordata information, a camera capturing and saving an image, orcommunicating with an implantable medical apparatus.

In certain instances, one or more elements of the thin computing device20 may be deemed not necessary and omitted. In other instances, one ormore other elements may be deemed necessary and added to the thincomputing device.

FIG. 2 and the following discussion are intended to provide a brief,general description of an environment in which embodiments may beimplemented. FIG. 2 illustrates an example embodiment of ageneral-purpose computing system in which embodiments may beimplemented, shown as a computing system environment 100. Components ofthe computing system environment 100 may include, but are not limitedto, a general purpose computing device 110 having a processor 120, asystem memory 130, and a system bus 121 that couples various systemcomponents including the system memory to the processor 120. The systembus 121 may be any of several types of bus structures including a memorybus or memory controller, a peripheral bus, and a local bus using any ofa variety of bus architectures. By way of example, and not limitation,such architectures include Industry Standard Architecture (ISA) bus,Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, VideoElectronics Standards Association (VESA) local bus, and PeripheralComponent Interconnect (PCI) bus, also known as Mezzanine bus.

The computing system environment 100 typically includes a variety ofcomputer-readable media products. Computer-readable media may includeany media that can be accessed by the computing device 110 and includeboth volatile and nonvolatile media, removable and non-removable media.By way of example, and not of limitation, computer-readable media mayinclude computer storage media. By way of further example, and not oflimitation, computer-readable media may include a communication media.

Computer storage media includes volatile and nonvolatile, removable andnon-removable media implemented in any method or technology for storageof information such as computer-readable instructions, data structures,program modules, or other data. Computer storage media includes, but isnot limited to, random-access memory (RAM), read-only memory (ROM),electrically erasable programmable read-only memory (EEPROM), flashmemory, or other memory technology, CD-ROM, digital versatile disks(DVD), or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage, or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by the computing device 110. In a further embodiment, acomputer storage media may include a group of computer storage mediadevices. In another embodiment, a computer storage media may include aninformation store. In another embodiment, an information store mayinclude a quantum memory, a photonic quantum memory, or atomic quantummemory. Combinations of any of the above may also be included within thescope of computer-readable media.

Communication media may typically embody computer-readable instructions,data structures, program modules, or other data in a modulated datasignal such as a carrier wave or other transport mechanism and includeany information delivery media. The term “modulated data signal” means asignal that has one or more of its characteristics set or changed insuch a manner as to encode information in the signal. By way of example,and not limitation, communications media may include wired media, suchas a wired network and a direct-wired connection, and wireless mediasuch as acoustic, RF, optical, and infrared media.

The system memory 130 includes computer storage media in the form ofvolatile and nonvolatile memory such as ROM 131 and RAM 132. A RAM mayinclude at least one of a DRAM, an EDO DRAM, a SDRAM, a RDRAM, a VRAM,or a DDR DRAM. A basic input/output system (BIOS) 133, containing thebasic routines that help to transfer information between elements withinthe computing device 110, such as during start-up, is typically storedin ROM 131. RAM 132 typically contains data and program modules that areimmediately accessible to or presently being operated on by theprocessor 120. By way of example, and not limitation, FIG. 2 illustratesan operating system 134, application programs 135, other program modules136, and program data 137. Often, the operating system 134 offersservices to applications programs 135 by way of one or more applicationprogramming interfaces (APIs) (not shown). Because the operating system134 incorporates these services, developers of applications programs 135need not redevelop code to use the services. Examples of APIs providedby operating systems such as Microsoft's “WINDOWS”® are well known inthe art.

The computing device 110 may also include other removable/non-removable,volatile/nonvolatile computer storage media products. By way of exampleonly, FIG. 2 illustrates a non-removable non-volatile memory interface(hard disk interface) 140 that reads from and writes for example tonon-removable, non-volatile magnetic media. FIG. 2 also illustrates aremovable non-volatile memory interface 150 that, for example, iscoupled to a magnetic disk drive 151 that reads from and writes to aremovable, non-volatile magnetic disk 152, or is coupled to an opticaldisk drive 155 that reads from and writes to a removable, non-volatileoptical disk 156, such as a CD ROM. Other removable/non-removable,volatile/non-volatile computer storage media that can be used in theexample operating environment include, but are not limited to, magnetictape cassettes, memory cards, flash memory cards, DVDs, digital videotape, solid state RAM, and solid state ROM. The hard disk drive 141 istypically connected to the system bus 121 through a non-removable memoryinterface, such as the interface 140, and magnetic disk drive 151 andoptical disk drive 155 are typically connected to the system bus 121 bya removable non-volatile memory interface, such as interface 150.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 2 provide storage of computer-readableinstructions, data structures, program modules, and other data for thecomputing device 110. In FIG. 2, for example, hard disk drive 141 isillustrated as storing an operating system 144, application programs145, other program modules 146, and program data 147. Note that thesecomponents can either be the same as or different from the operatingsystem 134, application programs 135, other program modules 136, andprogram data 137. The operating system 144, application programs 145,other program modules 146, and program data 147 are given differentnumbers here to illustrate that, at a minimum, they are differentcopies.

A user may enter commands and information into the computing device 110through input devices such as a microphone 163, keyboard 162, andpointing device 161, commonly referred to as a mouse, trackball, ortouch pad. Other input devices (not shown) may include at least one of atouch sensitive display, joystick, game pad, satellite dish, andscanner. These and other input devices are often connected to theprocessor 120 through a user input interface 160 that is coupled to thesystem bus, but may be connected by other interface and bus structures,such as a parallel port, game port, or a universal serial bus (USB).

A display 191, such as a monitor or other type of display device orsurface may be connected to the system bus 121 via an interface, such asa video interface 190. A projector display engine 192 that includes aprojecting element may be coupled to the system bus. In addition to thedisplay, the computing device 110 may also include other peripheraloutput devices such as speakers 197 and printer 196, which may beconnected through an output peripheral interface 195.

The computing system environment 100 may operate in a networkedenvironment using logical connections to one or more remote computers,such as a remote computer 180. The remote computer 180 may be a personalcomputer, a server, a router, a network PC, a peer device, or othercommon network node, and typically includes many or all of the elementsdescribed above relative to the computing device 110, although only amemory storage device 181 has been illustrated in FIG. 2. The networklogical connections depicted in FIG. 2 include a local area network(LAN) and a wide area network (WAN), and may also include other networkssuch as a personal area network (PAN) (not shown). Such networkingenvironments are commonplace in offices, enterprise-wide computernetworks, intranets, and the Internet.

When used in a networking environment, the computing system environment100 is connected to the network 171 through a network interface, such asthe network interface 170, the modem 172, or the wireless interface 193.The network may include a LAN network environment, or a WAN networkenvironment, such as the Internet. In a networked environment, programmodules depicted relative to the computing device 110, or portionsthereof, may be stored in a remote memory storage device. By way ofexample, and not limitation, FIG. 2 illustrates remote applicationprograms 185 as residing on memory storage device 181. It will beappreciated that the network connections shown are examples and othermeans of establishing communication link between the computers may beused.

In certain instances, one or more elements of the computing device 110may be deemed not necessary and omitted. In other instances, one or moreother elements may be deemed necessary and added to the computingdevice.

FIG. 3 illustrates an example environment 200 in which embodiments maybe implemented. The environment includes high-voltagehigh-voltage powertransmission system configured to transport electric power from oneplace to another. FIG. 3 illustrates an example of thehigh-voltagehigh-voltage power transmission system as an overheadhigh-voltagehigh-voltage power transmission system 205. In anotherexample, the high-voltagehigh-voltage power transmission system may bean underground high-voltagehigh-voltage power transmission system.

In an embodiment, a high-voltage power transmission system may include apower transmission system designed and insulated to transport electricpower from one place to another at voltage over approximately 35,000volts. For example, voltages of high-voltage power transmission mayinclude 138 kV, 230 kV, 345 kV, 500 kV, or 765 kV. In an embodiment, apower distribution system may include a system designed and insulated totransport and distribute electrical power from a high-voltage powertransmission system to a subtransmission customer. For example, voltagesof a power distribution system may include 26 kV or 69 kv, to a primarycustomer at 13 kV or 4 kV, or to a secondary customer at 120V or 240V.

Structures associated with the example system 205 includes transmissiontowers 210 supporting transmission lines 230 that are suspended frominsulators 220. FIG. 3 illustrates example transmission towers as towers210A and 210B. Example insulators 220 are illustrated as insulators220A.1, 220A.2, and 220A.3 mounted on the tower 210A and insulators220B.1, 220B.2, and 220B.3 mounted on the tower 210B. The insulators maybe made, for example, from wet-process porcelain, toughened glass,glass-reinforced polymer composites or other non-ceramic materials.Example transmission lines 230 are illustrated as transmission lines230.1, 230.2, and 230.3. High-voltage power transmission systems aresubject to operational risks, such as for example, weather conditions,ambient temperatures, lightning, or precipitation affect an overheadhigh-voltage power transmission system. Other operational risks mayinclude for example age, damage, or deterioration. Other operationalrisks may include for example vegetation, or human originatedencroachments. A potential operational risk is illustrated in FIG. 3 asvegetation 240.

FIG. 4 illustrates an example environment 300. The environment includesan apparatus, illustrated by transmission system management tool 320(hereafter ‘TSM tool”). The environment includes the high-voltage powertransmission system 205 described in conjunction with FIG. 3, and isillustrated by the tower 210. The environment includes a mobile device380 configured to traverse transmission lines and perform an action inresponse to assessed potential operational risks of the high-voltagepower transmission system.

The TSM tool 320 includes a receiver circuit 322, an analysis circuit324, and a planning circuit 326. The receiver circuit includes areceiver circuit configured to receive data indicative of at least onephysical parameter of a power transmission system, illustrated as thehigh-voltage power transmission system 205, configured to transportelectric power from one place to another. The analysis circuit includesan analysis circuit configured to assess a potential operational risk toa portion of the power transmission system at least partially based onthe received data. For example, the portion of the power transmissionsystem may include that portion of the high-voltage power transmissionsystem between towers 210A and 210B. For example, the portion of thepower transmission system may include that portion of the transmissionline 230.1 between towers 210A and 210B. For example, the portion of thepower transmission system may include that portion of the high-voltagepower transmission system between towers 210A and another tower. Theplanning circuit includes a planning circuit configured to schedule atraverse by the mobile device 380 of a transmission line of the powertransmission system at least partially based upon the assessed potentialoperational risk. The transmission line provides access to the portionof the power transmission system.

Those skilled in the art will recognize that in an embodiment aspects ofthe TSM tool 320 can be implemented using a hardware, software, and/orfirmware implementation. Those skilled in the art will recognize that inan embodiment aspects of the TSM tool can be implemented, individuallyand/or collectively, by various types of electro-mechanical systemshaving a wide range of electrical components such as hardware, software,firmware, and/or virtually any combination thereof. Those skilled in theart will recognize that in an embodiment aspects of the TSM tool can beimplemented using a general purpose computer programmed to carry out orperform one or more particular functions of the TSM tool. For example,aspects of the TSM tool can be implemented using a computing device 350.In an embodiment, the computing device may be coupled with a computerstorage device 338 coupled to a computer-readable medium. In anembodiment, the computing device may be implemented in part or wholeusing the general purpose thin computing device 20 described inconjunction with FIG. 1. In an embodiment, the computing device may beimplemented in part or whole using the purpose computing device 100described in conjunction with FIG. 2.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

In an embodiment, the data indicative of at least one physical parameterof the high-voltage power transmission system 205 includes at least oneof an operating voltage, current, phase, configuration, age, or capacityparameter of a component of the high-voltage power transmission system.For example, a component may include an insulator, and the parameter maybe the type, manufacturer, failure rate, age, years in service, or lastcleaning of the insulator. For example, a component may include circuitbreakers, switches, or transformers of the high-voltage powertransmission system. In an embodiment, wherein the data indicative of atleast one physical parameter of a high-voltage power transmission systemincludes at least one of an current, phase, configuration, age, cablesize, cable material or metal composition, or single or bundledconductor status parameter of a transmission line of the high-voltagepower transmission system. In an embodiment, the data indicative of dataindicative of at least one physical parameter of a high-voltage powertransmission system includes at least one of a location or a map of thehigh-voltage power transmission system. For example, the map may includea geographic or schematic map. For example, the map may include towerlocations, tower configurations, or tower heights. For example, the mapmay include clearances or acceptable line sag at particular locations.In an embodiment, the data indicative of at least one physical parameterof a high-voltage power transmission system includes at least one ofsafety and/or fault tolerance margins, or peak loads of the high-voltagepower transmission system.

In an embodiment, the high-voltage power transmission system 205includes an overhead high-voltage power transmission system configuredto transport electric power from one place to another. In an embodiment,the high-voltage power transmission system includes an undergroundhigh-voltage power transmission system configured to transport electricpower from one place to another. In an embodiment, the high-voltagepower transmission system includes a particular high-voltage powertransmission system configured to transport electric power from oneplace to another. In an embodiment, the high-voltage power transmissionsystem is parsable into at least two high-voltage power transmissionsystem portions for assessment of a potential operational risk.

In an embodiment, the receiver circuit 322 further configured to receivedata indicative of an existing condition affecting the high-voltagepower transmission system. For example, an existing condition mayinclude an existing weather condition, i.e., wind, snow, or temperature.In an embodiment, the at least one event includes at least one ofweather conditions, ambient temperatures, lightning, or precipitationaffecting the high-voltage power transmission system. In an embodiment,the at least one event includes at least one of existing linetemperatures, current demand, or equipment failures of the high-voltagepower transmission system. In an embodiment, the at least one eventincludes at least one of peak loads values, peak load characteristics,or status of another high-voltage power transmission system affectingthe high-voltage power transmission system. In an embodiment, the atleast one event includes at least one of seasonal, date, or holidaystatus affecting the high-voltage power transmission system. In anembodiment, the potential operational risk includes a potentialinspection requirement. In an embodiment, the potential operational riskincludes a potential maintenance requirement. In an embodiment, thepotential operational risk includes a potential repair requirement.

In an embodiment, the analysis circuit 324 includes an analysis circuitconfigured to assess a potential operational risk to a portion of thehigh-voltage power transmission system or a structure associated withthe portion of the high-voltage power transmission system. Theassessment is at least partially based on the received data.

In an embodiment, the transmission line is a live transmission line. Inan embodiment, the transmission line is a depowered transmission line.

In an embodiment, the planning circuit 326 includes a planning circuitconfigured to prioritize a first assessed potential operational risk toa first portion of the portion of the high-voltage power transmissionsystem with respect to a second assessed potential operational risk tosecond portion of the high-voltage power transmission system. Theprioritization is at least partially based upon the first assessedpotential operational risk and the second assessed potential operationalrisk. The planning circuit is also configured to schedule a traverse ofthe first portion of the portion of the high-voltage power transmissionsystem in response to the prioritization. For example, the prioritizingmay based upon a ranking of a plurality of operational risks. Forexample, a possible catastrophic operational risk would have a higherpriority than a routine preventative operational risk. In an embodiment,the planning circuit includes a planning circuit configured to schedulein response to the assessed potential operational risk a traverse over atransmission line providing access to the portion of the high-voltagepower transmission system by at least two mobile devices. The at leasttwo mobile devices configured to act in cooperation with each other.

In an embodiment, the transmission line is positioned relative to theportion of the high-voltage power transmission system in a manner thatallows inspection access to the portion of the high-voltage powertransmission system. In an embodiment, the transmission line ispositioned relative to the portion of the high-voltage powertransmission system in a manner to allow repair access to the portion ofthe high-voltage power transmission system. In an embodiment, thetransmission line is positioned relative to the portion of thehigh-voltage power transmission system in a manner that allowsmaintenance access to the portion of the high-voltage power transmissionsystem. In an embodiment, the transmission line is positioned relativeto the portion of the high-voltage power transmission system in a mannerthat allows replacement access to the portion of the high-voltage powertransmission system.

In an embodiment, the data receiver circuit 322 is further configured toreceive data indicative of an existing condition affecting thehigh-voltage power transmission system provided by another mobile deviceoperating on the high-voltage power transmission system. In anembodiment, the data receiver circuit is further configured to receivedata indicative of a first available mobile device having a firstcapability to respond to the assessed potential operational risk and asecond available mobile device having a second capability to respond tothe assessed potential operational risk. In an embodiment, the TSM toolincludes a mobile device selector circuit 332 configured to select anavailable mobile device to perform the scheduled traverse of thetransmission line from among a first available mobile device and asecond available mobile device.

In an embodiment, the planning circuit 326 is further configured toprovide data indicative of the scheduled traverse of the transmissionline by the mobile device. For example, the data may be provided inresponse to a request or a pull from another circuit of the TSM tool 320or from a third-party device. For example, the data may be pushed toanother circuit of the TSM tool or to a third-party device, such as thecomputing device 392.

In an embodiment, the TSM tool 320 includes a travel controller circuit334 configured to control the scheduled traverse by the mobile device.In an embodiment, the travel controller circuit is configured to controlthe route and the speed of the scheduled traverse by mobile device. Inan embodiment, the travel controller circuit is configured to controlspacing between the mobile device and another mobile device while theyare both traversing the high-voltage power transmission system. In anembodiment, the travel controller circuit is configured to determine atravel route to be taken by the mobile device. The travel route isdetermined based upon one or more factors including the mobile device'sstarting location, the number and type of obstacles along the routes,and the desired space/time of sites to be reached by the mobile device.In an embodiment, the travel controller circuit is configured todispatch the mobile device in response to the data indicative of thescheduled traverse of the transmission line. In an embodiment, thetravel controller circuit is configured to dispatch the mobile device inresponse to one or more factors. These factors may include the type ofmeasurements needed, the time since previous measurements, values ofprevious measurements, and/or the spatial/temporal profile ofmeasurements needed. In an embodiment, the travel controller circuit isfurther configured to dispatch the mobile device for another traverseover the transmission line to another portion of the high-voltage powertransmission system for another measurement or activity based upon themobile device's measurement or activity relative to the portion of thehigh-voltage power transmission system. In an embodiment, the travelcontroller circuit is further configured to dispatch another mobiledevice for another traverse over the transmission line to anotherportion of the high-voltage power transmission system for anothermeasurement or activity. The dispatch is at least partially based uponthe mobile device's measurement or activity relative to the portion ofthe high-voltage power transmission system. In an embodiment, the travelcontroller circuit is configured to dispatch the mobile device to alocation on the transmission line for measurement or activity. Thedispatch is at least partially based upon consideration of one or morefactors including line conditions, phase, voltage or current values,loads, sources, weather and/or environmental conditions. In anembodiment, the travel controller circuit is configured to dispatch themobile device to different portions of the high-voltage powertransmission system. The dispatch is at least partially based uponconsideration of the relative needs for inspection and activity at thedifferent portions and availability of the mobile device and anothermobile device. In an embodiment, the travel controller circuit isconfigured to dispatch the mobile device to different portions of thehigh-voltage power transmission system. The dispatch is at leastpartially based upon anticipated or predicted needs for inspection andactivity at the different portions and availability of the mobiledevice.

In an embodiment, one or more decision-making elements of the travelcontroller circuit 334 are disposed at diverse locations in or about thehigh-voltage power transmission system 205. In an embodiment, one ormore decision-making elements of the travel controller circuit aredisposed in one or more mobile devices 380. In an embodiment, one ormore decision-making elements of the travel controller circuit areconfigured to act independently of each other to control a dispatch ofone or more mobile devices.

In an embodiment, the TSM tool 320 further includes a computer-readablemedium 339 configured to store the scheduled traverse of the portion ofthe high-voltage power transmission system 205 by the mobile device 380.

In an embodiment, the mobile device 380 is configured to traverse theportion of the high-voltage power transmission system 205 and to inspectfor the assessed potential operational risk. In an embodiment, themobile device is configured to traverse the portion of the high-voltagepower transmission system and to address the assessed potentialoperational risk. For example, addressing the assessed potentialoperational risk may include beginning a task. For example, addressingthe assessed potential operational risk may include inspection,evaluation, repair, or a request additional information or instruction.In an embodiment, the mobile device is configured to traverse theportion of the high-voltage power transmission system and toautomatically address the assessed potential operational risk. In anembodiment, the mobile device is configured to automatically traversethe portion of the high-voltage power transmission system and toautomatically address the assessed potential operational risk. In anembodiment, the mobile device is configured to traverse the portion ofthe high-voltage power transmission system and to initiate an activitywith respect to the assessed potential operational risk. In anembodiment, the mobile device is configured to traverse the portion ofthe high-voltage power transmission system and to initiate a repair ormaintenance activity with respect to the assessed potential operationalrisk. In an embodiment, the mobile device includes a mobile roboticdevice configured to traverse the portion of the high-voltage powertransmission system and to autonomously address the assessed potentialoperational risk. For example, in an embodiment, a mobile robotic deviceincludes a mobile device designed to execute one or more tasksrepeatedly, with speed and precision.http://searchcio-midmarket.techtarget.com/definition/robot (Lastaccessed Jan. 25, 2012). In an embodiment, the mobile device isconfigured to traverse the portion of the high-voltage powertransmission system and to perform maintenance and/or repair operationsresponsive to the assessed potential operational risk. In an embodiment,the mobile device is configured to traverse the portion of thehigh-voltage power transmission system and to automatically performmaintenance and/or repair operations responsive to the assessedpotential operational risk. Other examples of the mobile device areprovided in conjunction with FIGS. 10-17.

The example environment 300 includes a remote computing environment,illustrated as a computing environment 392 that includes a display 394.In an embodiment, the computing environment may include one or moreelements of the computing environment 19 described in conjunction withFIG. 1, or the computing environment 100 described in conjunction withFIG. 2. The example environment 300 includes a person 396. In anenvironment, the computing environment 392 may interact with the person,such as receiving input from the person, or providing output to theperson, including via the display 394. In an embodiment, the computingenvironment 392 may be in wired or wireless communication with the TSMtool 320.

In an embodiment, the TSM tool 320 includes a communication module 328is configured to output data indicative of the scheduled traverse of thetransmission line by the mobile device. For example, the communicationmodule may be configured to output data over a wired or a wirelesscommunication path.

A prophetic example of the operation of the TSM tool in use may beillustrated by reference to FIGS. 3 and 4. For example, the receivercircuit 322 of the TSM tool 320 receives data indicative of at least onephysical parameter of a high-voltage power transmission system 205configured to transport electric power from one particular substation toanother substation. For example, the high-voltage power transmissionsystem may be a particular 500 kV overhead power transmission systembuilt to transmit power between BPA's Big Eddy Substation near TheDalles, Oreg. to a substation four miles northwest of Goldendale, Wash.A physical parameter may include an age of the insulators along thesystem, a failure or repair history of the insulators, or a date theinsulators were last cleaned.

Continuing with this prophetic example, the analysis circuit 324assesses a potential operational risk to a portion of this particularhigh-voltage power transmission system based on the received data. Apotential operational risk may include degradation or failure of theinsulators. The planning circuit 326 schedules an inspection trip by amobile device over a transmission line of the system. The scheduling isbased upon the assessed potential operational risk to the system, andmay weigh a possible operational significance of the assessed potentialoperational risk (i.e., complete failure vs. slight loss of power) indetermining when the inspection trip will be scheduled. For example, theplanning circuit may schedule the mobile device 380 to travel ontransmission line 230.2 and perform an inspection traverse of theinsulator sets 220A, 220B, etc. mounted on each tower 210. The traversemay be scheduled at some convenient time in the future if theoperational risk is classified as slight. The transmission line 230.2may be selected as providing inspection access to the insulators of thehigh-voltage power transmission system when the mobile device has acapacity to inspect insulators 220.A1 and 220A.3 from a position on thetransmission line 230.2. If the mobile device does not have a capacityto inspect insulators away from the traveled transmission line, theplanning circuit will schedule the mobile device to travel on each ofthe three transmission lines, 230.1, 230.2, and 230.3, and perform arespective inspection traverse of the insulators supporting each line.For example, a traverse of the transmission line 230.1 will provide themobile device inspection access to the insulators 220A.1 and 220B.1. Thecommunication module 328 is configured to output data indicative of thescheduled traverse of the transmission line by the mobile device. Inthis prophetic example, the communications module would output dataindicative the scheduling a travel of the mobile on transmission line230.2 to perform an inspection traverse the insulator sets 220A, 220B,etc. mounted on each tower 210 at a selected day and time.

FIG. 5 illustrates an example environment 400. The environment includesan apparatus, illustrated by transmission system management tool 420(hereafter “TSM tool”). The environment includes a power transmissionsystem, illustrated by the high-voltage power transmission system 205configured to transport electric power from one place to another anddescribed in conjunction with FIG. 3, and is also illustrated by thetower 210. The environment includes a mobile device 480.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

The TSM tool 420 is configured to assess a potential inspection and/orrepair need of a structure associated with the high-voltage powertransmission system 205. The TSM tool is also configured to accordinglyschedule a traverse by a mobile device of a transmission line of thehigh-voltage power transmission system in response to the potentialinspection and/or repair need. The mobile device is configured totraverse the transmission line of high-voltage power transmissionsystem, and perform an action in response to the potential inspectionand/or repair need. The high-voltage power transmission system isconfigured to transport electric power from one place to another, andthe transmission line provides access to the structure.

In an embodiment, the transmission system management tool 420 isconfigured to accordingly schedule and dispatch a traverse of atransmission line of the system by the mobile device 480.

In an embodiment, the mobile device 480 is configured to traverseanother transmission line while traveling on the transmission linein-use. In an embodiment, the mobile device is configured for passive oractive electrical inspection of the transmission line and/or structuresassociated with the transmission line segment. In an embodiment, themobile device is configured to measure physical parameters of thetransmission line including one or more of temperature, cleanliness,stress/strain, and/or sag. In an embodiment, the mobile device includesa camera or radar configured to address vegetation clearances of thetransmission line. In an embodiment, the mobile device is configured toautomatically respond to the potential inspection and/or repair need. Inan embodiment, the mobile device is configured to automatically traversea transmission line segment and to automatically respond to thepotential inspection and/or repair need. In an embodiment, mobile deviceis configured to initiate an activity with respect to the potentialinspection and/or repair need. In an embodiment, the mobile device isconfigured to traverse a transmission line and to autonomously addressthe assessed potential inspection and/or repair need for thetransmission line. In an embodiment, the mobile device may be at leastsubstantially similar to the mobile device 380 described in conjunctionwith FIG. 4.

In an embodiment, the TSM tool 420 may include a receiver circuit 422,and assessment circuit 424, a planning circuit 426, a communicationsmodule 428, a mobile device selector circuit 432, a travel controllercircuit 434, a computing device 450, or the computer storage device 338coupled with the computer-readable medium 339.

FIG. 6 illustrates an example operational flow 500. After a startoperation, the operational flow includes a reception operation 510. Thereception operation includes receiving data indicative of at least onephysical parameter of a power transmission system configured totransport electric power from one place to another. In an embodiment,the reception operation may be implemented using the receiver circuit322 described in conjunction with FIG. 4. An analysis operation 530includes assessing a potential operational risk to a portion of thepower transmission system at least partially based on the received data.In an embodiment, the reception operation may be implemented using theanalysis circuit 324 described in conjunction with FIG. 4. A planningoperation 540 includes scheduling a traverse by a mobile device over atleast a portion of a transmission line in response to the assessedpotential operational risk. The transmission line provides access to theportion of the power transmission system. In an embodiment, the planningoperation may be implemented using the planning circuit 326 described inconjunction with FIG. 4. The mobile device is configured to traversetransmission lines of a power transmission system and perform an actionin response to the assessed potential operational risk of the powertransmission system. In an embodiment, the mobile device may beimplemented using the mobile device 380 described in conjunction withFIG. 4. The operational flow includes an end operation.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

In an embodiment, the planning operation 540 may include at least oneadditional operation, such as the operation 542. The operation 542includes prioritizing a first assessed potential operational risk to afirst portion of the high-voltage power transmission system with respecta second assessed potential operational risk to second high-voltagepower transmission system and scheduling a traverse of the firsttransmission line segment in response to the prioritization. Theprioritizing is at least partially based upon the first assessedpotential operational risk and the second assessed operational risk.

FIG. 7 illustrates an alternative embodiment of the reception operation510 of FIG. 6. The reception operation may include at least oneadditional operation. The at least one additional operation may includean operation 512, an operation 514, or an operation 516. The operation512 includes receiving data indicative of at least one event having aneffect on or predicted to have an effect on the high-voltage powertransmission system. The operation 514 includes receiving dataindicative of existing condition affecting the high-voltage powertransmission system provided by another mobile device operating on thehigh-voltage power transmission system. The operation 516 includesreceiving data indicative of capability of a first mobile device to meetthe assessed potential operational risk and a capability of a secondmobile device to meet the assessed potential operational risk.

FIG. 8 illustrates alternative embodiments of the operational flow 500of FIG. 6. The operational flow may include at least one operation,illustrated as the operation 550. The operation 550 may include anoperation 552, an operation 554, an operation 556, an operation 558, anoperation 562, or an operation 564. The operation 552 includes selectinga particular mobile device to perform the scheduled traverse from afirst mobile device having a first capability to respond to the assessedpotential operational risk and a second mobile device having a secondcapability to respond to the assessed potential operational risk. Theoperation 554 includes controlling the scheduled traverse by the mobiledevice. The operation 556 includes storing data indicative of thescheduled traverse by the mobile device in a computer-readable medium.The operation 558 includes outputting informational data indicative ofthe scheduled traverse by the mobile device. The operation 562 includestransforming the scheduled traverse by the mobile device into aparticular visual depiction, and outputting the particular visualdepiction. The operation 564 includes providing a notification at leastpartially based on the scheduled traverse by the mobile device to atleast one of a human, computer, or system.

In an embodiment, the mobile device is configured to automaticallytraverse live transmission lines and to automatically respond to theassessed potential operational risk. In an embodiment, the mobile deviceincludes a mobile robotic device configured to autonomously traverselive transmission lines and to autonomously respond to the assessedpotential operational risk. In an embodiment, the high-voltage powertransmission system includes an overhead high-voltage power transmissionsystem. In an embodiment, the high-voltage power transmission systemincludes a particular high-voltage power transmission system.

FIG. 9 illustrates a computer program product 600. The computer programproduct includes computer-readable media 610 bearing programinstructions 620. The program instructions which, when executed by aprocessor of a computing device, cause the computing device to perform aprocess. The process includes receiving data indicative of at least onephysical parameter of a power transmission system configured totransport electric power from one place to another. The process includesassessing a potential operational risk to a portion of the powertransmission system at least partially based on the received data. Theprocess includes scheduling a traverse by a mobile device over a livetransmission line based upon the assessed potential operational risk.The live transmission line provides access to the portion of the powertransmission system. The mobile device is configured to traverse livetransmission lines and perform an action on the power transmissionsystem in response to the assessed potential operational risk.

In an embodiment, the process includes 622 providing a notification atleast partially based on the data indicative of the scheduled traverseto at least one of a human, computer, or system. In an embodiment, theprocess includes 624 transforming the data indicative of the scheduledtraverse into a particular visual depiction, and outputting theparticular visual depiction. In an embodiment, the process includes 626outputting data indicative of the scheduled traverse of the livetransmission line by the mobile device.

In an embodiment, the computer-readable media 610 includes a tangiblecomputer-readable media 612. In an embodiment, the computer-readablemedia includes a communication media 614. In an embodiment, the powertransmission system includes a high-voltage power transmission system.In an embodiment, the power transmission system includes a powerdistribution system.

FIG. 10 illustrates an example environment 700. The environment includesa transmission line of a live power transmission system, which isillustrated as the live transmission line 230.1 of the overheadhigh-voltage power transmission system 205 described in conjunction withFIG. 3. The environment also includes a mobile robotic device 705. Themobile device includes a mobile chassis 707 configured to travel on alive transmission line of a power transmission system propelled by apropulsion system 710. The mobile device includes an inspection module722 physically associated with the mobile chassis and configured toautomatically inspect a structure associated with the live powertransmission system. The mobile device includes a risk-assessment module724 physically associated with the mobile chassis and configured toassess a potential risk to the power transmission system in response toinspection data provided by the inspection module. The mobile deviceincludes a communication module 726 physically associated with themobile chassis and configured to output data indicative of the assessedpotential risk.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

Those skilled in the art will recognize that in an embodiment, aspectsof the mobile robotic device 705 can be implemented using a hardware,software, and/or firmware implementation. Those skilled in the art willrecognize that in an embodiment aspects of the mobile device can beimplemented, individually and/or collectively, by various types ofelectro-mechanical systems having a wide range of electrical componentssuch as hardware, software, firmware, and/or virtually any combinationthereof. Those skilled in the art will recognize that in an embodimentaspects of the mobile device can be implemented using a general purposecomputer programmed to carry out or perform one or more particularfunctions of the mobile device. For example, aspects of the mobiledevice can be implemented using a computing device 732. In anembodiment, the computing device may be implemented in part or wholeusing the general purpose thin computing device 20 described inconjunction with FIG. 1. In an embodiment, the computing device may beimplemented in part or whole using the purpose computing device 100described in conjunction with FIG. 2.

In an embodiment, the live transmission line is an overhead livetransmission line. In an embodiment, the live transmission line is anunderground live transmission line.

An example of a propelled mobile chassis is described by U.S. Pat. No.4,904,996 to Fermandes. An example of a propelled mobile chassis isdescribed by U.S. Pat. No. 7,496,459 to McAllister and United StatesPat. App Pub. 2008/0249723 by McAllister. An example of a propelledmobile chassis is described by U.S. Pat. No. 7,282,944 to Gunn, UnitedStates Pat. App Pub. 2008/0246507 by Gunn, and United States Pat. AppPub. 2005/0017751 by Gunn. An example of a propelled mobile chassis isdescribed by U.S. Pat. No. 6,494,141 to Montambault.

An example of a propelled mobile chassis is described by B Jiang & A VMamishev, Mobile Monitoring and Maintenance of Power Systems (Universityof Washington) (undated) (accessed athttp://www.ee.washington.edu/research/seal/pubfiles/Sci07.pdf on Feb.29, 2012). An example of a propelled mobile chassis is described T Li, FLijin, & W Hongguang, Development of an Inspection Robot Control Systemfor 500 kV Extra-High-voltage Power Transmission Lines, SICE 2004 AnnualConference Sapporo Japan (August 2004). An example of a propelled mobilechassis is described by A. De Souza, et al, 1 Inspection Robot forHigh-Voltage Transmission Lines 1-7, (ABCM Symposium Series inMechatronics 2004) (accessed athttp://www.abcm.org.br/symposiumseries/ssm_vol1/section_i_robotics/ssm_i_(—)01.pdfon Feb. 29, 2012). An example of a propelled mobile chassis is describedby X Xiao, et al., An Inspection Robot for High-voltage PowerTransmission Line and its Dynamic Study (Wuhan University, P. R. China)(undated) (accessed athttp://www.intechopen.com/source/pdfs/5322/InTech-An_inspection_robot_for_high_voltage_power_transmission_line_and_its_dynamics_study.pdfon Feb. 29, 2012). An embodiment of a propelled mobile chassis isdescribed by Z Tingyu, et al., Development of a Dual-Arm mobile Robotfor High-voltage Power Lines 1924-1929 (IEEE International Conference onRobotics and Biomimetics, 2007. ROBIO 2007). An example of a propelledmobile chassis is described by N Pouliot, et al., Geometric Design ofthe LineScout, a Teleoperated Robot for Power Line Inspection andMaintenance (IEEE International Conference on Robotics and Automation,2008. ICRA 2008). An example of a propelled mobile chassis is describedby S Montambault, et al., Design and Validation of a Mobile Robot forPower Line Inspection and Maintenance (6^(th) International Conferenceon Field and Service Robotics-FSR 2007, Chamonix France 2007) (accessedat http://hal.inria.fr/docs/00/19/47/17/PDF/fsr_(—)15.pdf on Feb. 29,2012). An example of a propelled mobile chassis is described by H sanSegundo, et al., Automated Inspection of Electric Transmission Lines:The power supply system (IEEE 2006) (accessed athttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4152907&userType=&tag=1on Mar. 5, 2012)

In an embodiment, the inspection module 722 is configured toautomatically inspect the structure for a potential damage ordeterioration. In an embodiment, the inspection module is configured toautomatically inspect the structure for a potential damage ordeterioration caused by normal wear and tear. In an embodiment, theinspection module is configured to automatically inspect the structurefor a potential damage or deterioration caused by aging of thestructure. In an embodiment, the inspection module is configured toautomatically inspect the structure for a potential damage ordeterioration caused by a weather event. In an embodiment, theinspection module is configured to automatically inspect the structurefor potential damage or deterioration caused by standing water. In anembodiment, the inspection module is configured to automatically inspectthe structure for a potential maintenance, repair, or modification need.In an embodiment, the inspection module is configured to automaticallyinspect for encroaching vegetation. In an embodiment, the structureincludes at least one of the transmission line, other transmissionlines, insulators, ground line, encasement, cooling system, or towersassociated with the power transmission system.

In an embodiment, the risk-assessment module 724 is configured to assessa potential risk to the power transmission system from normal wear andtear in response to data provided by the inspection module. In anembodiment, the risk-assessment module is configured to assess apotential risk to the power transmission system from encroachingvegetation in response to data provided by the inspection module. In anembodiment, the risk-assessment module is configured to assess apotential risk to the power transmission system from encroachingvegetation. The assessment is in response to data provided by theinspection module and in response to data indicative of the encroachingvegetation at a previous inspection. For example, including in theassessment of a potential risk data from a previous inspection isexpected to provide a baseline for assessing how fast the encroachingvegetation is growing. In an embodiment, the risk-assessment module isconfigured to assess a potential risk to the power transmission systemfrom encroaching vegetation. The assessment is in response to dataprovided by the inspection module, and in response to imaging,triangulation and/or time-of-flight measurement data to determine theheight or extent of encroaching vegetation. In an embodiment, therisk-assessment module is configured to assess a potential risk to thepower transmission system from encroaching vegetation. The assessment isin response to data provided by the inspection module, and in responseto one or more local geographic or topographic factors. These factorsmay include whether the vegetation is above, below or to the side of thepower line, and/or whether the vegetation is uphill or upwind from thepower line.

In an embodiment, the mobile device 705 includes a maintenance module728 physically associated with the mobile chassis and configured toperform a maintenance, repair, or modification activity relative to thepower transmission system in response to the assessed potential risk. Inan embodiment, the maintenance module is configured to automaticallyperform a maintenance, repair, or modification activity relative to thepower transmission system. In an embodiment, the maintenance module isconfigured to perform a maintenance, repair, or modification activityrelative to the power transmission system in response to a receivedauthorization. In an embodiment, the maintenance module is configured torepair damage or deterioration to the structure associated with thepower transmission system. In an embodiment, the maintenance module isconfigured to repair or modify an insulator associated with the powertransmission system In an embodiment, the maintenance module isconfigured to perform a maintenance, repair, or modification activity tothe structure associated with the power transmission system. In anembodiment, the maintenance module is configured to trim vegetationencroaching the structure associated with the power transmission system.In an embodiment, the maintenance module is configured to trimvegetation encroaching the structure associated with the powertransmission system. The trimming may by delivery of electrical energy,photonic energy, or chemical spray, and/or by physical cutting. In anembodiment, the maintenance module is configured to repair or clean apower line insulator. In an embodiment, the maintenance module isconfigured to de-ice a transmission line. In an embodiment, themaintenance module is configured to apply a deicing compound or fluid toa transmission line. In an embodiment, the maintenance module isconfigured to mechanically de-ice a transmission line. In an embodiment,the maintenance module is configured to apply heat to a transmissionline. For example, heat may be applied by blowing warm air or byresistive heating.

FIG. 10 also illustrates another embodiment of the example environment700. This embodiment includes the mobile robotic device 705 and atransmission system management tool, hereafter referred to as TSM tool760. The robotic device is configured to travel on a transmission lineof a power transmission system and to automatically inspect a structureassociated with the power transmission system. The TSM tool isconfigured to assess a potential risk to the power transmission systemin response to inspection data provided by the mobile device, andaccordingly to initiate a maintenance, repair, or modification activityrelative to the structure of the power transmission system by the mobilerobotic device or another mobile device. In an embodiment, the TSM toolmay include a communication module 762, a planning module 764, arisk-assessment module 766, or a computing device 768.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

Those skilled in the art will recognize that, in an embodiment, aspectsof the TSM tool 760 can be implemented using a hardware, software,and/or firmware implementation. Those skilled in the art will recognizethat in an embodiment aspects of the TSM tool can be implemented,individually and/or collectively, by various types of electro-mechanicalsystems having a wide range of electrical components such as hardware,software, firmware, and/or virtually any combination thereof. Thoseskilled in the art will recognize that in an embodiment aspects of theTSM tool can be implemented using a general purpose computer programmedto carry out or perform one or more particular functions of the TSMtool. For example, aspects of the TSM tool can be implemented using acomputing device 768. In an embodiment, the computing device may beimplemented in part or whole using the general purpose thin computingdevice 20 described in conjunction with FIG. 1. In an embodiment, thecomputing device may be implemented in part or whole using the purposecomputing device 100 described in conjunction with FIG. 2.

In an embodiment, the mobile robotic device 705 is further configured towirelessly communicate with the TSM tool 760. In an embodiment, thetransmission system management tool is further configured to wirelesslycommunicate with the mobile robotic device. In an embodiment, thetransmission system management tool is further configured to bestationed at a fixed location. In an embodiment, the transmission systemmanagement tool is configured to assess a potential risk to the powertransmission system in response to inspection data provided by themobile device. The transmission system management tool is configured toaccordingly schedule and authorize the mobile robotic device or anothermobile robotic device to perform a maintenance, repair, or modificationactivity relative to the structure of the power transmission system.

FIG. 11 illustrates an example environment 800. The environment includesa transmission line of a power transmission system, which is illustratedas the transmission line 230.1 of the overhead high-voltage powertransmission system 205 described in conjunction with FIG. 3. Theenvironment also includes a mobile robotic device 805. The mobile deviceincludes a mobile chassis 807 configured to travel on a transmissionline of the power transmission system propelled by the propulsion system710. The mobile device includes a vegetation inspection module 822physically associated with the mobile chassis and configured to measurea characteristic of vegetation growing proximate to a portion of theoverhead power transmission system. For example, FIG. 11 illustratesvegetation 802 growing proximate 803 to the transmission line 230.1. Themobile device includes a communication module 826 physically associatedwith the mobile chassis and configured to output data indicative of themeasured characteristic of the vegetation.

Those skilled in the art will recognize that in an embodiment aspects ofthe mobile device 805 can be implemented using a hardware, software,and/or firmware implementation. Those skilled in the art will recognizethat in an embodiment, aspects of the mobile device can be implemented,individually and/or collectively, by various types of electro-mechanicalsystems having a wide range of electrical components such as hardware,software, firmware, and/or virtually any combination thereof. Thoseskilled in the art will recognize that in an embodiment aspects of themobile device can be implemented using a general purpose computerprogrammed to carry out or perform one or more particular functions ofthe mobile device. For example, aspects of the mobile device can beimplemented using a computing device 832. In an embodiment, thecomputing device 832 may be implemented in part or whole using thegeneral purpose thin computing device 20 described in conjunction withFIG. 1. In an embodiment, the computing device 832 may be implemented inpart or whole using the purpose computing device 100 described inconjunction with FIG. 2.

In an embodiment, the vegetation 802 growing proximate includespreviously known vegetation growing proximate to a portion of theoverhead power transmission system 205. In an embodiment, the vegetationgrowing proximate includes previously unknown vegetation growingproximate to a portion of the overhead power transmission system.

In an embodiment, the vegetation inspection module 822 includes a sensor823 configured to measure a height or extent of vegetation relative tothe transmission line. In an embodiment, the sensor includes a camera,radar, lidar, or sonar device.

In an embodiment, the communication module 862 is configured towirelessly output data indicative of the measured characteristic of thevegetation. For example, the data indicative of the measuredcharacteristic of the vegetation may be wireless communicated to avegetation management tool 860. In an embodiment, the vegetationmanagement tool may include a planning module 864, a or risk-assessmentmodule 866. In an embodiment, the vegetation management tool includes acomputing device 872. In an embodiment, the communication module isconfigured to communicate with a maintenance module 828 configured totrim vegetation.

In an embodiment, the mobile device 805 includes the maintenance module828 physically associated with the mobile chassis and configured to trimvegetation growing proximate to a portion of the overhead powertransmission system. In an embodiment, the maintenance module isconfigured to trim vegetation growing proximate to a portion of theoverhead power transmission system in response to the outputted dataindicative of the measured characteristic of the vegetation. In anembodiment, the maintenance module is configured to automatically trimvegetation growing proximate to a portion of the overhead powertransmission system. In an embodiment, the maintenance module isconfigured to trim vegetation growing proximate to a portion of theoverhead power transmission system in response to an instructionoriginated by a vegetation management tool.

FIG. 12 illustrates an example environment 900. The environment includesa transmission line of a power transmission system, which is illustratedas the transmission line 230.1 of the overhead high-voltage powertransmission system 205 described in conjunction with FIG. 3. Theenvironment also includes a mobile device 905 and a vegetationmanagement tool 960. The mobile device is configured to travel on oralong a transmission line of a power transmission system and measure oneor more characteristics of vegetation encroaching the power transmissionsystem.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

In an embodiment, the mobile device 905 may include a vegetationmeasuring module 922, a vegetation control module 924, or acommunication module 926. In an embodiment, the mobile device is furtherconfigured to trim the encroaching vegetation to address the assessedrisk. For example, trimming encroaching vegetation may be implementedusing the vegetation control module 924. In an embodiment, the mobiledevice is configured to trim vegetation using electrical or photonicenergy, chemical spray, and/or physical cutting.

Those skilled in the art will recognize that in an embodiment aspects ofthe mobile device 905 can be implemented using a hardware, software,and/or firmware implementation. Those skilled in the art will recognizethat in an embodiment, aspects of the mobile device can be implemented,individually and/or collectively, by various types of electro-mechanicalsystems having a wide range of electrical components such as hardware,software, firmware, and/or virtually any combination thereof. Thoseskilled in the art will recognize that in an embodiment aspects of themobile device can be implemented using a general purpose computerprogrammed to carry out or perform one or more particular functions ofthe mobile device. For example, aspects of the mobile device can beimplemented using a computing device 932. In an embodiment, thecomputing device may be implemented in part or whole using the generalpurpose thin computing device 20 described in conjunction with FIG. 1.In an embodiment, the computing device may be implemented in part orwhole using the purpose computing device 100 described in conjunctionwith FIG. 2.

The vegetation management tool 960 is configured to address the measuredone or more characteristics and assess risk to the power transmissionsystem posed by the encroaching vegetation. In an embodiment, thevegetation management tool may include a communication module 962, avegetation evaluation module 964, a planning module 966, or a vegetationrisk-assessment module 974. In an embodiment, the vegetation managementtool is configured to assess risk to the power transmission system posedby the encroaching vegetation at least partially based on generallyavailable guidelines and/or protocols. In an embodiment, the vegetationmanagement tool is configured assess risk to the power transmissionsystem posed by the encroaching vegetation at least partially based ongenerally available guidelines and/or protocols. In an embodiment thevegetation management tool is configured assess risk to the powertransmission system posed by the encroaching vegetation. The risk isassessed at least partially based on particular guidelines and/orprotocols for the power transmission system. In an embodiment, thevegetation management tool is configured to use imaging, triangulation,and/or time-of-flight measurement data to determine a height or extentof the encroaching vegetation. In an embodiment, the vegetationmanagement tool is configured to determine clearances betweenencroaching vegetation and the transmission line in response to themeasured one or more characteristics of the encroaching vegetation. Inan embodiment, the vegetation management tool is configured to assessrisk to the power transmission system from the encroaching vegetation.The risk is assessed based on one or more local geographic ortopographic factors including whether the encroaching vegetation isabove, below or to the side of the power transmission system, and/orwhether the encroaching vegetation is uphill or upwind from the powertransmission system. In an embodiment, the vegetation management tool isconfigured to assess risk to the transmission line from the encroachingvegetation based on a time-lapse analysis of changes in the height orextent of the encroaching vegetation. In an embodiment, the vegetationmanagement tool is configured to address a measured clearance betweenthe encroaching vegetation and the power transmission system. Thevegetation management tool is also configured to automatically assessrisk to the transmission line posed by the encroaching vegetation basedon the measured clearance. In an embodiment, the vegetation managementtool is configured to address a measured clearance between theencroaching vegetation and the power transmission system. The vegetationmanagement tool is also configured to automatically assess risk to thetransmission line posed by the encroaching vegetation based on themeasured clearance and on a specified sag value of a transmission lineof the power transmission system. In an embodiment, the vegetationmanagement tool is configured to address a measured clearance betweenthe encroaching vegetation and a transmission line of the powertransmission system. The vegetation management tool is also configuredto automatically assess risk to the transmission line posed by theencroaching vegetation based on the measured clearance and on aspecified wind environment of the transmission line. For example, thespecified wind environment may include a predicted or an existing windenvironment.

FIG. 17 illustrates an environment 1400. The environment includes apower transmission system, illustrated by the portion of the tower 210A,the insulator 220A.1, and the transmission line 230.1 of thehigh-voltage power transmission system 205 described in conjunction withFIG. 3. The environment also includes a system 1405. The system includesa stationary device 1420 and a mobile device 1460. The stationary deviceis configured to be electrically coupled to a transmission line of apower transmission system and remain at a fixed location during a testmeasurement of the power transmission system. The stationary device isillustrated coupled to the transmission line using conductor 1412 andconnector 1414. The mobile device is configured to travel on thetransmission line. In an embodiment, the mobile device may besubstantially similar to the mobile device 1005 or the mobile device1070 described in conjunction with FIG. 13. In an embodiment, the mobiledevice includes a mobile robotic device. The stationary device and themobile device are further configured to cooperatively measure propertiesof the power transmission system.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

In an embodiment, the stationary device 1420 and the mobile device 1460are configured to cooperatively measure properties of a component of thepower transmission system located between the stationary device and themobile device. In an embodiment, the stationary device and the mobiledevice are configured to automatically and cooperatively measureproperties of the power transmission system. In an embodiment, thestationary device and the mobile device are configured to cooperativelymeasure electrical and/or mechanical properties of the powertransmission system. In an embodiment, the stationary device and themobile device are configured to automatically and cooperativelydetermine a voltage standoff-capability of an insulator supporting orholding the transmission line. In an embodiment, one of the stationarydevice or the mobile device is configured to apply a test excitation tothe transmission line, and the other of the stationary device or themobile device is configured measure a response of the transmission lineto the test excitation.

In an embodiment, the test excitation frequency is at about a nominaltransmission line excitation frequency. In an embodiment, the testexcitation frequency is different than a nominal transmission lineexcitation frequency. In an embodiment, the test excitation is appliedto the live transmission line at about zero crossings in the excitationcarried by the live transmission line. In an embodiment, the at aboutthe zero crossings includes not more than plus or minus ten degrees ofthe zero crossings in excitation carried by the live transmission line.In an embodiment, the at about the zero crossings includes not more thanplus or minus five degrees of the zero crossings in the excitationcarried by the live transmission line. In an embodiment, the at aboutthe zero crossings includes not more than plus or minus two degrees ofthe zero crossings in excitation carried by the live transmission line.In an embodiment, the at about the zero crossings includes not more thanplus or minus one degree of the zero crossings in excitation carried bythe live transmission line. In an embodiment, the test excitation isapplied to the live transmission line during a select time portion of afrequency cycle of the excitation carried by the live transmission line.In an embodiment, the mobile device is configured to apply a testexcitation to an insulator supporting or holding the transmission lineand the stationary device is configured measure a response of theinsulator to the test excitation. In an embodiment, the stationarydevice and the mobile device are configured to cooperatively conduct apassive or active electrical inspection of the transmission line and/orstructures associated with the transmission line. In an embodiment, thestationary device and the mobile device are configured to cooperativelymeasure physical transmission line parameters including one or more oftemperature, cleanliness, stress/strain, and/or sag.

In an embodiment, the mobile device 1005 includes a sensor (notillustrated) configured to measure a height or extent of encroachingvegetation along the transmission line. In an embodiment, the sensorincludes a camera, radar, lidar, or sonar device.

In an embodiment, the system 1405 includes a test controller 1460configured to manage the cooperative measurement of properties of thepower transmission system by the stationary device 1420 and the mobiledevice 1005. In an embodiment, the test controller is further configuredto control an aspect of travel over the transmission line by the mobiledevice. In an embodiment, the test controller is further configured toinitiate a cooperative measurement of properties of the powertransmission system. In an embodiment, the test controller is furtherconfigured to receive data indicative of the cooperatively measuredproperties from the stationary device or the mobile device. In anembodiment, the test controller is further configured to outputinformational data responsive to the data indicative of thecooperatively measured properties.

An embodiment includes method. After a start operation, an operationalflow of the method includes electrically coupling a stationary device ata fixed location to a transmission line of a power transmission system.For example, in an embodiment, this operation may be implemented byusing the conductor 1412 and the connector 1414 to electrically couplethe stationary device 1420 to the transmission line 230.1 described inconjunction with FIG. 17. The operational flow includes initiatingtravel of a mobile device over the transmission line 230.1 to a selectedlocation on the transmission line. For example, in an embodiment, thisoperation may be implemented by initiating travel of the mobile device1005 over the transmission line described in conjunction with FIG. 17using the travel control module 1052 described in conjunction with FIG.14. The operational flow includes measuring a property of a structure ofthe power transmission system using the stationary device and the mobiledevice. The stationary device and the mobile device are configured tocooperatively measure the property of the structure. The operationalflow includes outputting data indicative of the measured property of thestructure. For example, in an embodiment, this operation may beimplemented using the communication module 1028 or the communicationmodule 1056 described in conjunction with FIG. 14. The operational flowincludes an end operation. In an embodiment, the operational flow mayinclude at least one additional operation. The at least one additionaloperation may include managing the cooperative measurement of theproperty of the power transmission system by the stationary device andthe mobile device. For example, in an embodiment, this operation may beimplemented using the cooperation control module 1054 described inconjunction with FIG. 14.

FIG. 13 illustrates an environment 1000. The environment includes apower transmission system, illustrated by the portion of the tower 210A,the insulator 220A.1, and the transmission line 230.1 of thehigh-voltage power transmission system 205 described in conjunction withFIG. 3. The environment also includes a system 1002. The system includesat least two mobile devices, illustrated as a first mobile device 1005and a second mobile device 1070. The at least two mobile devices areconfigured to (i) travel on or along a transmission line of the powertransmission system, and the at least two mobile devices are furtherconfigured to (ii) cooperatively measure properties of the transmissionline and/or other structures associated with the power transmissionsystem.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

FIG. 14 illustrates an embodiment of the mobile device 1005 of FIG. 13.The mobile device includes a mobile chassis 1007 configured to travel ona transmission line of a power transmission system propelled by thepropulsion system 710. The mobile device 1005 may include aproperty-measurement module 1022, a cooperation module 1024, amaintenance module 1026, or a communication module 1028. Theproperty-measurement module is configured to measure in cooperation withthe mobile device 1070 of FIG. 13 properties of the transmission lineand/or other structures associated with the power transmission system.The cooperation module is configured facilitate cooperation with themobile device 1070 in the measurement of the properties of thetransmission line and/or other structures associated with the powertransmission system. The communication module is configured tocommunicate with another mobile device of the at least two mobiledevices, or a mobile robotic device management tool.

Those skilled in the art will recognize that in an embodiment aspects ofthe mobile device can be implemented using a hardware, software, and/orfirmware implementation. Those skilled in the art will recognize that inan embodiment, aspects of the mobile device can be implemented,individually and/or collectively, by various types of electro-mechanicalsystems having a wide range of electrical components such as hardware,software, firmware, and/or virtually any combination thereof. Thoseskilled in the art will recognize that in an embodiment aspects of themobile device can be implemented using a general purpose computerprogrammed to carry out or perform one or more particular functions ofthe mobile device. For example, aspects of the mobile device can beimplemented using a computing device 1032. In an embodiment, thecomputing device may be implemented in part or whole using the generalpurpose thin computing device 20 described in conjunction with FIG. 1.In an embodiment, the computing device may be implemented in part orwhole using the purpose computing device 100 described in conjunctionwith FIG. 2.

With reference to FIGS. 13-14, in an embodiment, the mobile device 1005and the mobile device 1070 may be substantially similar. In anembodiment, one mobile device of the at least two mobile devices is amobile robotic device. In an embodiment, two mobile devices of the atleast two mobile devices are mobile robotic devices. In an embodiment,the power transmission system includes an overhead power transmissionsystem. In an embodiment, the power transmission system includes anunderground power transmission system. In an embodiment, the at leasttwo mobile devices are further configured to automatically andcooperatively measure properties of the transmission line and/or otherstructures associated with the transmission line. In an embodiment, theat least two mobile devices are further configured to cooperativelymeasure electrical and/or mechanical properties of the transmission lineand/or other structures associated with the transmission line. In anembodiment, the at least two mobile devices are further configured tocooperatively measure properties of a component of the powertransmission system located between them. In an embodiment, the at leasttwo mobile devices are further configured to automatically andcooperatively determine a voltage standoff-capability of an insulatorsupporting or holding the transmission line. For example, in anembodiment, the mobile device 1005 is configured to apply a testexcitation to the transmission line and the mobile device 1070 isconfigured measure a response of the transmission line to the testexcitation.

In an embodiment, the test excitation frequency is at about a nominaltransmission line excitation frequency. In an embodiment, the testexcitation frequency is different than a nominal transmission lineexcitation frequency. In an embodiment, the test excitation is appliedto the live transmission line at about zero crossings in the excitationcarried by the live transmission line. In an embodiment, the at aboutthe zero crossings includes not more than plus or minus ten degrees ofthe zero crossings in the excitation carried by the live transmissionline. In an embodiment, the at about the zero crossings includes notmore than plus or minus five degrees of the zero crossings in theexcitation carried by the live transmission line. In an embodiment, theat about the zero crossings includes not more than plus or minus twodegrees of the zero crossings in the excitation carried by the livetransmission line. In an embodiment, the at about the zero crossingsincludes not more than plus or minus one degree of the zero crossings inthe excitation carried by the live transmission line.

In an embodiment, a mobile device is configured to apply a testexcitation to the live transmission line during a select time portion ofa frequency cycle of the excitation carried by the live transmissionline. In an embodiment, a first mobile device is configured to apply atest excitation to an insulator supporting or holding the livetransmission line and a second mobile device is configured measure aresponse of the insulator to the test excitation. In an embodiment, afirst mobile device is configured to apply a test excitation to aninsulator supporting or holding the power and a second mobile device isconfigured to counteract or offset the applied test excitation. In anembodiment, the at least two mobile devices are further configured tocooperatively measure properties of an insulator associated with anpower transmission system, for example wherein the mobile device 1005 ispositioned on the transmission line and on a first side of the insulatorand the mobile device 1070 is positioned on the transmission line and ata second and opposing side of the insulator. FIG. 13 illustrates thisembodiment. In an embodiment, a mobile device is configured to apply atest excitation to an insulator supporting or holding the transmissionline at about zero crossings in the excitation carried by thetransmission line. In an embodiment, a mobile device is configured toapply a test excitation to an insulator supporting or holding thetransmission line during a select time portion of a frequency cycle ofthe excitation carried by the transmission line. In an embodiment, amobile device is configured for passive or active electrical inspectionof the transmission line and/or structures associated with thetransmission line. In an embodiment, a mobile device is configured tomeasure physical transmission line parameters including one or more oftemperature, cleanliness, stress/strain, and/or sag. In an embodiment, amobile device includes at least a sensor configured to measure a heightor extent of encroaching vegetation along the transmission line.

FIG. 14 illustrates an alternative embodiment of the environment 1000that includes a system 1002. The system includes the at least mobiledevices, which are illustrated as the first mobile device 1005 and thesecond mobile device 1070 of FIG. 13. The at least two mobile devicesare configured to (i) travel on or along a transmission line of thepower transmission system, and the at least two mobile devices arefurther configured to (ii) cooperatively measure properties of thetransmission line and/or other structures associated with the powertransmission system. The system includes a mobile device management tool1050. The mobile device management tool is configured to control thetraverse of the transmission line, for example, such as the transmissionline 230.1 of the high-voltage power transmission system 205, by the atleast two mobile devices.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

In an embodiment, the mobile device management tool 1050 includes atravel control module 1052, a cooperation control module 1054, or acommunication module 1056. The travel control module is configured tocontrol the traverse of the transmission line by the at least two mobiledevices. The cooperation control module is configured to control thecooperative measurement of the properties of the transmission lineand/or other structures associated with the power transmission system bythe at least two mobile devices. The communication module is configuredto communicate with the at least two mobile devices, and/or athird-party device.

Those skilled in the art will recognize that in an embodiment aspects ofthe mobile device management tool can be implemented using a hardware,software, and/or firmware implementation. Those skilled in the art willrecognize that in an embodiment, aspects of the mobile device managementtool can be implemented, individually and/or collectively, by varioustypes of electro-mechanical systems having a wide range of electricalcomponents such as hardware, software, firmware, and/or virtually anycombination thereof. Those skilled in the art will recognize that in anembodiment aspects of the mobile device management tool can beimplemented using a general purpose computer programmed to carry out orperform one or more particular functions of the mobile device. Forexample, aspects of the mobile device management tool can be implementedusing a computing device 1058. In an embodiment, the computing devicemay be implemented in part or whole using the general purpose thincomputing device 20 described in conjunction with FIG. 1. In anembodiment, the computing device may be implemented in part or wholeusing the purpose computing device 100 described in conjunction withFIG. 2.

In an embodiment, the mobile device management tool is configured tocontrol the traverse of the transmission line and facilitate thecooperative measurement by the at least two mobile devices. In anembodiment, the mobile device management tool is configured to scheduleand control the traverse of the transmission line of the powertransmission system by the at least two mobile devices. In anembodiment, the mobile device management tool is further configured toprovide instructions to the at least two mobile devices regarding theircooperative measurement of properties. In an embodiment, the mobiledevice management tool is further configured to control an aspect of thecooperative measurement of properties by the at least two mobiledevices. In an embodiment, the mobile device management tool is furtherconfigured to output informational data responsive to the cooperativelymeasured properties.

An embodiment includes method. After a start operation, an operationalflow of the method includes initiating travel of a first mobile deviceover a transmission line of a power transmission system to a firstlocation on the transmission line. For example, in an embodiment, thisoperation may be implemented using the travel control module 1052described in conjunction with FIG. 14. The operational flow includesinitiating travel of a second mobile device over the transmission lineto a second location on the transmission line. For example, in anembodiment, this operation may also be implemented using the travelcontrol module 1052 described in conjunction with FIG. 14. Theoperational flow includes measuring a property of a structure of thepower transmission system using the first mobile device and the secondmobile device. For example, in an embodiment, this operation may also beimplemented using the property-measurement module 1022, the cooperationmodule 1024, and/or the cooperation control module 1054 described inconjunction with FIG. 14. The first mobile device and the second mobiledevice are configured to cooperatively measure the property of thestructure. The operational flow includes outputting data indicative ofthe measured property of the structure. For example, in an embodiment,this operation may also be implemented using the communication module1028, and/or the communication module 1056 described in conjunction withFIG. 14. The operational flow includes an end operation.

In an embodiment, the operational flow includes managing the cooperativemeasurement of the property of the power transmission system by thefirst mobile device and the second mobile device. In an embodiment, thetransmission line includes a pre-selected first location on thetransmission line. In an embodiment, the first location on thetransmission line includes a first location on the transmission lineselected by the first mobile device. In an embodiment, the secondlocation on the transmission line includes a pre-selected secondlocation on the transmission line. In an embodiment, the second locationon the transmission line includes a second location on the transmissionline selected by the second mobile device.

FIG. 15 illustrates an example environment 1200. The environmentincludes a power transmission system, illustrated by the transmissionline 230.1 of the high-voltage power transmission system 205 describedin conjunction with FIG. 3. The environment also includes a mobiledevice 1205. The mobile device includes a chassis 1207 configured totravel on a live transmission line, such as the transmission line 260Abetween two transmission towers, such as the towers 210 a and 210B ofthe overhead high-voltage power transmission system described inconjunction with FIG. 3. The mobile device includes an assistance module1222 physically associated with the chassis and configured to physicallyassist installation or de-installation of a conductor cable or linebetween the two transmission towers.

In an embodiment, the assistance module 1222 includes a pull-wire orpull-rope assistance module 1224 configured to deploy a pull-wire orpull-rope between the two transmission towers. In an embodiment,pull-wire or pull-rope assistance module is configured to deploy apull-wire or pull-rope configured to facilitate installation of a newconductor cable or line between the two transmission towers. In anembodiment, the pull rope includes a low-mass, high-strength pull rope,e.g., Kevlar or Spectra. In an embodiment, pull-wire or pull-ropeassistance module is configured to install a pull-wire or pull-ropebetween the two transmission towers. In an embodiment, pull-wire orpull-rope assistance module is configured to

In an embodiment, the assistance module 1222 includes a support orspacing fixtures assistance module 1226 configured to physicallyfacilitate installation of support or spacing fixtures for a newconductor cable or line. In an embodiment, the support or spacingfixtures assistance module is configured to install support or spacingfixtures for a new conductor cable or line. In an embodiment, thesupport or spacing fixtures assistance module is configured tophysically facilitate installation of support or spacing fixtures ateither of the two transmission towers or along the overhead transmissionline on which it traverses. In an embodiment, the assistance moduleincludes a pulling assistance module 1228 configured to apply a pullingforce on a new conductor cable or line being installed. In anembodiment, the assistance module includes a de-installation assistancemodule 1232 configured to physically assist a de-installation of aconductor cable or line between the two transmission towers. In anembodiment, the assistance module includes a deployment assistancemodule 1234 configured to physically assist a de-installation of aconductor cable or line between the two transmission towers. In anembodiment, the assistance module includes a spool or reel 1236configured to carry a new conductor cable or line. In an embodiment, thespool or reel is configured to carry and deploy a new conductor cable orline. In an embodiment, the assistance module includes a conductorremoval module 1238 configured to gather removed conductor cable orline. In an embodiment, the mobile device includes a communicationmodule 1244 physically associated with the chassis and configured forwireless communication.

Those skilled in the art will recognize that in an embodiment aspects ofthe mobile device 1205, including the assistance module 1222, can beimplemented using a hardware, software, and/or firmware implementation.Those skilled in the art will recognize that in an embodiment, aspectsof the mobile device can be implemented, individually and/orcollectively, by various types of electro-mechanical systems having awide range of electrical components such as hardware, software,firmware, and/or virtually any combination thereof. Those skilled in theart will recognize that in an embodiment aspects of the mobile devicecan be implemented using a general purpose computer programmed to carryout or perform one or more particular functions of the mobile device.For example, aspects of the mobile device can be implemented using acomputing device 1246. In an embodiment, the computing device may beimplemented in part or whole using the general purpose thin computingdevice 20 described in conjunction with FIG. 1. In an embodiment, thecomputing device may be implemented in part or whole using the purposecomputing device 100 described in conjunction with FIG. 2.

FIG. 16 illustrates an example environment 1300. The environmentincludes a power transmission system, illustrated by the livetransmission line 230.1 of the high-voltage power transmission system205 described in conjunction with FIG. 3. The environment includes asystem 1302. The system includes the mobile device 1205 described inconjunction with FIG. 15, and an installation-assistance controller1350. The installation-assistance controller includes a travel controlmodule 1352 configured to control travel by the mobile device over thelive transmission line. The installation-assistance controller includesa physical-assistance control module 1354 configured to controlprovision of physical assistance by the mobile device. Theinstallation-assistance controller includes a communication module 1356configured to wirelessly communicate with the mobile device. In anembodiment, the travel control module 1352 is configured simultaneouslycontrol travel by at least two mobile devices on the live transmissionline of the power transmission system.

In an embodiment, the power transmission system includes a high-voltagepower transmission system. In an embodiment, the power transmissionsystem includes a power distribution system.

Those skilled in the art will recognize that in an embodiment aspects ofthe installation-assistance controller can be implemented using ahardware, software, and/or firmware implementation. Those skilled in theart will recognize that in an embodiment, aspects of theinstallation-assistance controller can be implemented, individuallyand/or collectively, by various types of electro-mechanical systemshaving a wide range of electrical components such as hardware, software,firmware, and/or virtually any combination thereof. Those skilled in theart will recognize that in an embodiment aspects of theinstallation-assistance controller can be implemented using a generalpurpose computer programmed to carry out or perform one or moreparticular functions of the mobile device. For example, aspects of theinstallation-assistance controller can be implemented using a computingdevice 1358. In an embodiment, the computing device may be implementedin part or whole using the general purpose thin computing device 20described in conjunction with FIG. 1. In an embodiment, the computingdevice may be implemented in part or whole using the purpose computingdevice 100 described in conjunction with FIG. 2.

All references cited herein are hereby incorporated by reference intheir entirety or to the extent their subject matter is not otherwiseinconsistent herewith.

In some embodiments, “configured” includes at least one of designed, setup, shaped, implemented, constructed, or adapted for at least one of aparticular purpose, application, or function.

It will be understood that, in general, terms used herein, andespecially in the appended claims, are generally intended as “open”terms. For example, the term “including” should be interpreted as“including but not limited to.” For example, the term “having” should beinterpreted as “having at least.” For example, the term “has” should beinterpreted as “having at least.” For example, the term “includes”should be interpreted as “includes but is not limited to,” etc. It willbe further understood that if a specific number of an introduced claimrecitation is intended, such an intent will be explicitly recited in theclaim, and in the absence of such recitation no such intent is present.For example, as an aid to understanding, the following appended claimsmay contain usage of introductory phrases such as “at least one” or “oneor more” to introduce claim recitations. However, the use of suchphrases should not be construed to imply that the introduction of aclaim recitation by the indefinite articles “a” or “an” limits anyparticular claim containing such introduced claim recitation toinventions containing only one such recitation, even when the same claimincludes the introductory phrases “one or more” or “at least one” andindefinite articles such as “a” or “an” (e.g., “a receiver” shouldtypically be interpreted to mean “at least one receiver”); the sameholds true for the use of definite articles used to introduce claimrecitations. In addition, even if a specific number of an introducedclaim recitation is explicitly recited, it will be recognized that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “at least two chambers,” or “aplurality of chambers,” without other modifiers, typically means atleast two chambers).

In those instances where a phrase such as “at least one of A, B, and C,”“at least one of A, B, or C,” or “an [item] selected from the groupconsisting of A, B, and C,” is used, in general such a construction isintended to be disjunctive (e.g., any of these phrases would include butnot be limited to systems that have A alone, B alone, C alone, A and Btogether, A and C together, B and C together, or A, B, and C together,and may further include more than one of A, B, or C, such as A₁, A₂, andC together, A, B₁, B₂, C₁, and C₂ together, or B₁ and B₂ together). Itwill be further understood that virtually any disjunctive word or phrasepresenting two or more alternative terms, whether in the description,claims, or drawings, should be understood to contemplate thepossibilities of including one of the terms, either of the terms, orboth terms. For example, the phrase “A or B” will be understood toinclude the possibilities of “A” or “B” or “A and B.”

The herein described aspects depict different components containedwithin, or connected with, different other components. It is to beunderstood that such depicted architectures are merely examples, andthat in fact many other architectures can be implemented which achievethe same functionality. In a conceptual sense, any arrangement ofcomponents to achieve the same functionality is effectively “associated”such that the desired functionality is achieved. Hence, any twocomponents herein combined to achieve a particular functionality can beseen as “associated with” each other such that the desired functionalityis achieved, irrespective of architectures or intermedial components.Likewise, any two components so associated can also be viewed as being“operably connected,” or “operably coupled,” to each other to achievethe desired functionality. Any two components capable of being soassociated can also be viewed as being “operably couplable” to eachother to achieve the desired functionality. Specific examples ofoperably couplable include but are not limited to physically mateable orphysically interacting components or wirelessly interactable orwirelessly interacting components.

With respect to the appended claims the recited operations therein maygenerally be performed in any order. Also, although various operationalflows are presented in a sequence(s), it should be understood that thevarious operations may be performed in other orders than those which areillustrated, or may be performed concurrently. Examples of suchalternate orderings may include overlapping, interleaved, interrupted,reordered, incremental, preparatory, supplemental, simultaneous,reverse, or other variant orderings, unless context dictates otherwise.Use of “Start,” “End,” “Stop,” or the like blocks in the block diagramsis not intended to indicate a limitation on the beginning or end of anyoperations or functions in the diagram. Such flowcharts or diagrams maybe incorporated into other flowcharts or diagrams where additionalfunctions are performed before or after the functions shown in thediagrams of this application. Furthermore, terms like “responsive to,”“related to,” or other past-tense adjectives are generally not intendedto exclude such variants, unless context dictates otherwise.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following.

1. A system comprising: a stationary device configured to beelectrically coupled to a transmission line of a power transmissionsystem and remain at a fixed location during a test measurement of thepower transmission system; and a mobile device configured to travel onthe transmission line, the stationary device and the mobile devicefurther configured to cooperatively measure properties of the powertransmission system.
 2. The system of claim 1, wherein the powertransmission system includes a high-voltage power transmission system.3. The system of claim 1, wherein the power transmission system includesa power distribution system.
 4. The system of claim 1, wherein thetransmission line is a live transmission line.
 5. The system of claim 1,wherein the transmission line is a depowered transmission line.
 6. Thesystem of claim 1, wherein the stationary device and the mobile deviceare configured to cooperatively measure properties of a component of thepower transmission system located between the stationary device and themobile device.
 7. The system of claim 1, wherein the stationary deviceand the mobile device are configured to automatically and cooperativelymeasure properties of the power transmission system.
 8. The system ofclaim 1, wherein the stationary device and the mobile device areconfigured to cooperatively measure electrical and/or mechanicalproperties of the power transmission system.
 9. The system of claim 1,wherein the stationary device and the mobile device are configured toautomatically and cooperatively determine a voltage standoff-capabilityof an insulator supporting or holding the transmission line.
 10. Thesystem of claim 1, wherein the stationary device and the mobile deviceare configured to cooperatively measure properties of the transmissionline and/or other structures associated with the power transmissionsystem without instruction from a third device.
 11. The system of claim1, wherein the stationary device and the mobile device are configured tocooperatively measure properties of the transmission line and/or otherstructures associated with the power transmission system in response toinstruction from a third device.
 12. The system of claim 1, wherein oneof the stationary device or the mobile device is configured to apply atest excitation to the transmission line and the other of the stationarydevice or the mobile device is configured to measure a response of thetransmission line to the test excitation.
 13. The system of claim 12,wherein the test excitation frequency is at about a nominal transmissionline excitation frequency.
 14. The system of claim 12, wherein the testexcitation frequency is different than a nominal transmission lineexcitation frequency.
 15. The system of claim 12, wherein the testexcitation is applied to the live transmission line at about zerocrossings in the excitation carried by the live transmission line. 16.The system of claim 15, wherein the at about the zero crossings includesnot more than plus or minus ten degrees of the zero crossings in theexcitation carried by the live transmission line.
 17. The system ofclaim 15, wherein the at about the zero crossings includes not more thanplus or minus five degrees of the zero crossings in the excitationcarried by the live transmission line.
 18. The system of claim 15,wherein the at about the zero crossings includes not more than plus orminus two degrees of the zero crossings in the excitation carried by thelive transmission line.
 19. The system of claim 15, wherein the at aboutthe zero crossings includes not more than plus or minus one degree ofthe zero crossings in the excitation carried by the live transmissionline.
 20. The system of claim 1, wherein the test excitation is appliedto the live transmission line during a select time portion of afrequency cycle of the excitation carried by the live transmission line.21. The system of claim 1, wherein the mobile device is configured toapply a test excitation to an insulator supporting or holding thetransmission line and the stationary device is configured to measure aresponse of the insulator to the test excitation.
 22. The system ofclaim 1, wherein the stationary device and the mobile device areconfigured to cooperatively conduct a passive or active electricalinspection of the transmission line and/or structures associated withthe transmission line.
 23. The system of claim 1, wherein the stationarydevice and the mobile device are configured to cooperatively measurephysical transmission line parameters including one or more oftemperature, cleanliness, stress/strain, and/or sag.
 24. The system ofclaim 1, wherein the mobile device includes a sensor configured tomeasure a height or extent of encroaching vegetation along thetransmission line.
 25. The system of claim 24, wherein the sensorincludes a camera, radar, lidar, or sonar device.
 26. The system ofclaim 1, wherein the mobile device includes a mobile robotic device. 27.The system of claim 1, further comprising a test controller configuredto manage the cooperative measurement of properties of the powertransmission system by the stationary device and the mobile device. 28.The system of claim 27, wherein the test controller is furtherconfigured to control an aspect of travel over the transmission line bythe mobile device.
 29. The system of claim 27, wherein the testcontroller is further configured to initiate the cooperative measurementof properties of the power transmission system.
 30. The system of claim27, wherein the test controller is further configured to receive dataindicative of the cooperatively measured properties from the stationarydevice or the mobile device.
 31. The system of claim 30, wherein thetest controller is further configured to output informational dataresponsive to the data indicative of the cooperatively measuredproperties.
 32. A method comprising: electrically coupling a stationarydevice at a fixed location to a transmission line of a powertransmission system; initiating travel of a mobile device over thetransmission line to a selected location on the transmission line;measuring a property of a structure of the power transmission systemusing the stationary device and the mobile device, the stationary deviceand the mobile device configured to cooperatively measure the propertyof the structure; and outputting data indicative of the measuredproperty of the structure.
 33. The method of claim 32, wherein the powertransmission system includes a high-voltage power transmission system.34. The method of claim 32, wherein the power transmission systemincludes a power distribution system.
 35. The method of claim 32,further comprising: managing the cooperative measurement of the propertyof the power transmission system by the stationary device and the mobiledevice.
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 59. A system, comprising: at least two mobile devicesconfigured to (i) travel on or along a transmission line of a powertransmission system, and the at least two mobile devices furtherconfigured to (ii) cooperatively measure properties of the transmissionline and/or other structures associated with the power transmissionsystem; and a mobile device management tool configured to control thetraverse of the transmission line of the power transmission system bythe at least two mobile devices.
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 64. The system of claim 59, wherein the mobiledevice management tool is configured to schedule and control thetraverse of the transmission line of the power transmission system bythe at least two mobile devices.
 65. The system of claim 59, wherein themobile device management tool is further configured to provideinstructions to the at least two mobile devices regarding theircooperative measurement of properties.
 66. The system of claim 59,wherein the mobile device management tool is further configured tocontrol an aspect of the cooperative measurement of properties by the atleast two mobile devices.
 67. The system of claim 59, wherein the mobiledevice management tool is further configured to output informationaldata responsive to the cooperatively measured properties.
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